From 9f4ae69d9acc5939da8a05e2494bac20af2aef09 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Wed, 7 Feb 2024 19:37:35 -0500
Subject: [PATCH] Commande tracker april tag

---
 .../java/frc/robot/command/GuiderHaut.java    |  2 +-
 .../java/frc/robot/command/LancerNote.java    |  1 +
 .../frc/robot/command/Limelight_tracker.java  | 49 +++++++++++++++++++
 .../java/frc/robot/subsystem/Limelight.java   |  6 +--
 4 files changed, 54 insertions(+), 4 deletions(-)
 create mode 100644 src/main/java/frc/robot/command/Limelight_tracker.java

diff --git a/src/main/java/frc/robot/command/GuiderHaut.java b/src/main/java/frc/robot/command/GuiderHaut.java
index 1eb052e..74719ca 100644
--- a/src/main/java/frc/robot/command/GuiderHaut.java
+++ b/src/main/java/frc/robot/command/GuiderHaut.java
@@ -40,6 +40,6 @@ public class GuiderHaut extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return guideur.haut()==true;
+return guideur.haut()==true; 
   }
 }
diff --git a/src/main/java/frc/robot/command/LancerNote.java b/src/main/java/frc/robot/command/LancerNote.java
index d653184..133492b 100644
--- a/src/main/java/frc/robot/command/LancerNote.java
+++ b/src/main/java/frc/robot/command/LancerNote.java
@@ -15,6 +15,7 @@ public class LancerNote extends Command {
   public LancerNote(Lanceur lancer, Accumulateur accumulateur) {
     this.lancer = lancer;
     this.accumulateur = accumulateur;
+    addRequirements(lancer);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
diff --git a/src/main/java/frc/robot/command/Limelight_tracker.java b/src/main/java/frc/robot/command/Limelight_tracker.java
new file mode 100644
index 0000000..78d0f91
--- /dev/null
+++ b/src/main/java/frc/robot/command/Limelight_tracker.java
@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystem.Drive;
+import frc.robot.subsystem.Limelight;
+
+public class Limelight_tracker extends Command {
+  /** Creates a new Limelight_tracker. */
+  private Limelight tracker;
+  private Drive drive;
+
+  public Limelight_tracker(Limelight tracker, Drive drive) {
+    this.drive = drive;
+    this.tracker = tracker;
+    addRequirements(tracker,drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+
+    if (tracker.getv()){
+      drive.drive(0,0, tracker.getx());
+      }
+      else{
+        drive.drive(0, 0, 0);
+      }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+     drive.drive(0, 0, 0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystem/Limelight.java b/src/main/java/frc/robot/subsystem/Limelight.java
index 97831af..ab2358f 100644
--- a/src/main/java/frc/robot/subsystem/Limelight.java
+++ b/src/main/java/frc/robot/subsystem/Limelight.java
@@ -27,15 +27,15 @@ public class Limelight extends SubsystemBase {
 
   }
   
-  public double getx(){
+  public  double getx(){
     return tx.getDouble(0);
   }
   public double gety(){
     return ty.getDouble(0);
   }
-  public double geta() {
+ /* public double geta() {
     return ta.getDouble(0);
-  }
+  }*/
   public boolean getv(){
     return tv.getBoolean(false);
   }